From 658d7340688529d7995de0c15ddd855a0a7b8af3 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 12 Jan 2019 14:47:58 -0500
Subject: [PATCH] param add status
---
src/lib/parameters/param.h | 5 +++
src/lib/parameters/parameters.cpp | 50 +++++++++++++++++++++----
src/lib/parameters/parameters_shmem.cpp | 33 ++++++++++++++++
src/systemcmds/param/param.cpp | 7 ++++
4 files changed, 87 insertions(+), 8 deletions(-)
diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h
index 924d50878d..e2cf3127fe 100644
--- a/src/lib/parameters/param.h
+++ b/src/lib/parameters/param.h
@@ -397,6 +397,11 @@ __EXPORT int param_load_default(void);
*/
__EXPORT uint32_t param_hash_check(void);
+/**
+ * Print the status of the param system
+ *
+ */
+__EXPORT void param_print_status(void);
/**
* Enable/disable the param autosaving.
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 27fbe90684..3c5cad2879 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -50,15 +50,16 @@
#include <math.h>
#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_sem.h>
#include <px4_shutdown.h>
-
-#include <perf/perf_counter.h>
#include <systemlib/uthash/utarray.h>
+using namespace time_literals;
+
//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
@@ -91,8 +92,8 @@ static char *param_user_file = nullptr;
#include <px4_workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
-static struct work_s autosave_work;
-static bool autosave_scheduled = false;
+static struct work_s autosave_work {};
+static volatile bool autosave_scheduled = false;
static bool autosave_disabled = false;
#endif /* PARAM_NO_AUTOSAVE */
@@ -627,7 +628,7 @@ autosave_worker(void *arg)
int ret = param_save_default();
if (ret != 0) {
- PX4_ERR("param save failed (%i)", ret);
+ PX4_ERR("param auto save failed (%i)", ret);
}
}
#endif /* PARAM_NO_AUTOSAVE */
@@ -651,10 +652,10 @@ param_autosave()
// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
// - the logger stores changed params. He gets notified on a param change via uORB and then
// looks at all unsaved params.
- hrt_abstime delay = 300 * 1000;
+ hrt_abstime delay = 300_ms;
- const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
- hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
+ static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
+ const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
delay = rate_limit - last_save_elapsed;
@@ -1371,3 +1372,36 @@ uint32_t param_hash_check()
return param_hash;
}
+
+void param_print_status()
+{
+ PX4_INFO("summary: %d/%d (used/total)", param_count_used(), param_count());
+
+#ifndef FLASH_BASED_PARAMS
+ const char *filename = param_get_default_file();
+
+ if (filename != nullptr) {
+ PX4_INFO("file: %s", param_get_default_file());
+ }
+
+#endif /* FLASH_BASED_PARAMS */
+
+ if (param_values != nullptr) {
+ PX4_INFO("storage array: %d/%d elements (%zu bytes total)",
+ utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
+ }
+
+#ifndef PARAM_NO_AUTOSAVE
+ PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
+
+ if (!autosave_disabled && (last_autosave_timestamp > 0)) {
+ PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
+ }
+
+#endif /* PARAM_NO_AUTOSAVE */
+
+ perf_print_counter(param_export_perf);
+ perf_print_counter(param_find_perf);
+ perf_print_counter(param_get_perf);
+ perf_print_counter(param_set_perf);
+}
diff --git a/src/lib/parameters/parameters_shmem.cpp b/src/lib/parameters/parameters_shmem.cpp
index 1da1d85057..9081e2ac67 100644
--- a/src/lib/parameters/parameters_shmem.cpp
+++ b/src/lib/parameters/parameters_shmem.cpp
@@ -1479,6 +1479,39 @@ uint32_t param_hash_check()
return param_hash;
}
+void param_print_status()
+{
+ PX4_INFO("summary: %d/%d (used/total)", param_count_used(), param_count());
+
+#ifndef FLASH_BASED_PARAMS
+ const char *filename = param_get_default_file();
+
+ if (filename != nullptr) {
+ PX4_INFO("file: %s", param_get_default_file());
+ }
+
+#endif /* FLASH_BASED_PARAMS */
+
+ if (param_values != nullptr) {
+ PX4_INFO("storage array: %d/%d elements (%zu bytes total)",
+ utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
+ }
+
+#ifndef PARAM_NO_AUTOSAVE
+ PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
+
+ if (!autosave_disabled && (last_autosave_timestamp > 0)) {
+ PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
+ }
+
+#endif /* PARAM_NO_AUTOSAVE */
+
+ perf_print_counter(param_export_perf);
+ perf_print_counter(param_find_perf);
+ perf_print_counter(param_get_perf);
+ perf_print_counter(param_set_perf);
+}
+
void init_params()
{
#ifdef __PX4_QURT
diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp
index 3b91952fda..2828e10e5f 100644
--- a/src/systemcmds/param/param.cpp
+++ b/src/systemcmds/param/param.cpp
@@ -136,6 +136,8 @@ $ reboot
PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet mode, print only param value (name needs to be exact)", true);
PRINT_MODULE_USAGE_ARG("<filter>", "Filter by param name (wildcard at end allowed, eg. sys_*)", true);
+ PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print status of parameter system");
+
PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set parameter to a value");
PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to set", false);
PRINT_MODULE_USAGE_ARG("fail", "If provided, let the command fail if param is not found", true);
@@ -245,6 +247,11 @@ param_main(int argc, char *argv[])
}
}
+ if (!strcmp(argv[1], "status")) {
+ param_print_status();
+ return PX4_OK;
+ }
+
if (!strcmp(argv[1], "set")) {
if (argc >= 5) {
--
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